Updated JointCommand Interface for Trajectories #7
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| int32 mode # Mode in which to command arm | ||
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| string[] names # Joint names order for command |
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It might be good to specify if only a subset of the joints can be sent.
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Ah, interesting point. The way the interface is written, you can specify any subset of joints and default values will be commanded for every non-specified joint as follows:
Position Mode: default is currently commanded position
Velocity Mode: default is 0.0 velocity
Torque Mode: default is currently commanded torque
Trajectory Mode: default is currently commanded position, 0.0 velocity and 0.0 acceleration
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Merging for now, but I've opened a ticket to better document the Mode / command units. |
IanTheEngineer
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Sep 28, 2016
Updates the Limb interface to utilize the new TRAJECTORY_MODE in intera_core_msgs. This new mode is a reworked RAW_POSITION_MODE but requires Position, Velocity, and Acceleration commands to execute a Trajectory. The other modes (Position, Velocity, Torque) now require commands to be populated in their respective fields within the JointCommand msg. Additionally, slight optimization in the JTAS to execute commands strictly in the mode commanded. Depends on RethinkRobotics/intera_common#7
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JointCommandassociated withJointPlugininterface update. This change moves away from a generic command field and towards individualposition,velocity,acceleration,effortfields, to be updated per command mode: